行程反饋式液壓鑿巖機(jī)沖擊機(jī)構(gòu)動(dòng)力學(xué)仿真及其性能檢測(cè)方法的研究

1、分類(lèi)號(hào)： 學(xué)校代號(hào)：11845 UDC： 密級(jí)： 學(xué) 號(hào)：211001033廣東工業(yè)大學(xué)碩士學(xué)位論文（工學(xué)碩士）行程反饋式液壓鑿巖機(jī)沖擊機(jī)構(gòu)動(dòng)力學(xué)仿真及其性能檢測(cè)方法的研究劉 智指導(dǎo)教師姓名、職稱： 李鍛能 教授學(xué)科(專(zhuān)業(yè))或領(lǐng)域名稱： 機(jī) 械 制 造 及 其 自 動(dòng) 化學(xué) 生 所 屬 學(xué) 院： 機(jī) 電 工 程 學(xué) 院論 文 答 辯 日 期： 2013年5月A Dissertation Submitted to Guangdong University of Technology for the Master Degree of Engineering（Master of Engineerin

2、g Science）Stroke feedback type hydraulic rock drill impact mechanism dynamics simulation and its performanceresearch of test methodCandidate: Liu zhiSupervisor: Prof. Li duannengGuangdong University of TechnologyGuangzhou, Guangdong, P. R. China, 510006摘 要課題在綜合分析了目前國(guó)內(nèi)使用非常廣泛的多種型號(hào)液壓鑿巖機(jī)主要機(jī)構(gòu)工作原理之后，以沖擊頻率

3、和沖擊能為切入點(diǎn)，對(duì)其中一種行程反饋式液壓鑿巖機(jī)的沖擊機(jī)構(gòu)進(jìn)行了深入的分析與研究，并對(duì)液壓鑿巖機(jī)的性能檢測(cè)方法開(kāi)展了一定的研究。液壓鑿巖機(jī)沖擊機(jī)構(gòu)各運(yùn)動(dòng)零部件的運(yùn)動(dòng)規(guī)律十分復(fù)雜，很難用精確的數(shù)學(xué)模型進(jìn)行描述。本文基于一定的假設(shè)條件，建立了液壓鑿巖機(jī)沖擊機(jī)構(gòu)運(yùn)動(dòng)部件的非線性數(shù)學(xué)模型。以此為基礎(chǔ)，用Matlab/simulink工具箱對(duì)液壓鑿巖機(jī)沖擊機(jī)構(gòu)進(jìn)行了動(dòng)態(tài)仿真，分析了液壓鑿巖機(jī)沖擊機(jī)構(gòu)在輸入一定的工作參數(shù)的情況下，各個(gè)運(yùn)動(dòng)零部件結(jié)構(gòu)參數(shù)對(duì)沖擊性能的影響。通過(guò)對(duì)改變結(jié)構(gòu)參數(shù)后沖擊機(jī)構(gòu)所表現(xiàn)出來(lái)沖擊性能變化趨勢(shì)的分析，獲得了有關(guān)液壓鑿巖機(jī)沖擊機(jī)構(gòu)運(yùn)動(dòng)狀態(tài)的規(guī)律性認(rèn)識(shí)，基于這些認(rèn)識(shí)提出了一種液壓

4、鑿巖機(jī)的新型緩沖結(jié)構(gòu)雙緩沖機(jī)構(gòu)。并對(duì)這一機(jī)構(gòu)做了理論分析，結(jié)果表明該緩沖機(jī)構(gòu)緩沖效果明顯，對(duì)提高液壓鑿巖機(jī)壽命有積極的作用。文中總結(jié)介紹了幾種常用的液壓鑿巖機(jī)及氣動(dòng)沖擊器的性能檢測(cè)方法，分析了它們各自的特點(diǎn)。在此基礎(chǔ)上提出一種新的液壓鑿巖機(jī)沖擊性能檢測(cè)方法液壓缸受沖能量轉(zhuǎn)移法。該方法不僅能檢測(cè)沖擊頻率、沖擊能，還能模擬不同巖石的工況條件下，在實(shí)驗(yàn)室開(kāi)展沖擊實(shí)驗(yàn)，檢驗(yàn)出沖擊機(jī)構(gòu)能夠正常工作的臨界性能參數(shù)。根據(jù)這個(gè)方法研制了一臺(tái)模擬實(shí)驗(yàn)臺(tái)，對(duì)實(shí)驗(yàn)臺(tái)檢測(cè)軟硬件系統(tǒng)進(jìn)行設(shè)計(jì)搭建。模擬液壓鑿巖機(jī)的沖擊性能檢測(cè)要求，對(duì)檢測(cè)系統(tǒng)進(jìn)行了調(diào)試與測(cè)試，驗(yàn)證了新檢測(cè)方法的可行性、可靠性與準(zhǔn)確性。本文通過(guò)對(duì)液壓鑿巖機(jī)

5、沖擊機(jī)構(gòu)的理論研究，對(duì)我國(guó)目前行程反饋式液壓鑿巖機(jī)的設(shè)計(jì)和研制具有重要的理論價(jià)值和實(shí)際意義。同時(shí)，新型檢測(cè)方法也為適應(yīng)液壓鑿巖機(jī)沖擊性能不斷提高的發(fā)展趨勢(shì)提供了一個(gè)新思路。關(guān)鍵詞：液壓鑿巖機(jī) 沖擊機(jī)構(gòu) 動(dòng)態(tài)仿真 緩沖裝置 沖擊性能IABSTRACTAfter comprehensive analyzed working principle of various types of currently widely home used hydraulic rock drill，conducted in-depth analysis and research to a stroke feedback

6、 hydraulic rock drill impact mechanism use impact frequency and impact energy . And carried out some research to its performance detection methods.It is very complex and difficult of the motion law of the hydraulic rock drill impact mechanism that so difficult to use a precise mathematical model to

7、describe it, This article built the nonlinear mathematical model of the moving parts of a hydraulic rock drill impact mechanism based on certain assumptions, and simulated the hydraulic rock drill impact mechanism with Matlab / Simulink toolbox. Deeply analyzed the relationship between the structura

8、l parameters of the each moving body and the performance of the hydraulic rock drill impact mechanism.Through analyzing the impact performance trend of changing the structure parameters of hydraulic rock drill impact mechanism.Gained some understanding of the motion state laws of the hydraulic rock

9、drill impact mechanism.Promoted a hydraulic rock drill new buffer structure-double buffering mechanism-based on these findings. Theoretical analyzed to this structure, the results show that it plays an active role o improve the life of the hydraulic rock drill. Introduced several performance detecti

10、on methods on several commonly used hydraulic& pneumatic rock drill and analyzed their features.Promoted a new impact performance testing method- by impact Law-on this basis.This method can not only detect the impact frequency, impact energy but also it can simulate critical performance paramete

11、rs of the impact mechanism on some certain condition. And built hydraulic rock drill impact performance testing table with this method and did some research on this detection system.Debug the detection system with hydraulic rock drill impact performance testing requirements to verify the feasibility

12、, reliability and accuracy of the new test.In conclusion, the theoretical study of the hydraulic rock drill impact mechanism, it would be practical significance on design and develop our own feedback hydraulic rock drill. At the same time, the new detection method also provides a reference for hydra

13、ulicIIrock drill impact performance trends.Keywords: Hydraulic rock drill, impact mechanism, dynamic simulation, buffer structure, impact performanceIII目 錄摘 要 . I ABSTRACT . II 目 錄 . IV CONTENTS . VII第一章 緒論 . 11.1液壓鑿巖機(jī)發(fā)展概況 . 11.1.2國(guó)外液壓鑿巖機(jī)技術(shù)概況與發(fā)展趨勢(shì) . 11.1.2國(guó)內(nèi)液壓鑿巖機(jī)技術(shù)概況與發(fā)展重點(diǎn) . 31.2 液壓鑿巖機(jī)沖擊機(jī)構(gòu)工作特點(diǎn)及研究方法概述

14、 . 41.2.1液壓鑿巖機(jī)沖擊機(jī)構(gòu)工作特點(diǎn) . 41.2.2液壓鑿巖機(jī)沖擊機(jī)構(gòu)數(shù)學(xué)模型 . 51.3 沖擊機(jī)構(gòu)相關(guān)技術(shù)的研究 . 71. 3.1換向閥的研究 . 71. 3.2防空打裝置和釬尾反彈緩沖裝置研究 . 71.4 本課題的意義和研究?jī)?nèi)容 . 81.5 本章小結(jié) . 9第二章 液壓鑿巖機(jī)的基本結(jié)構(gòu)與工作原理 . 102.1液壓鑿巖機(jī)的分類(lèi) . 102.2液壓鑿巖機(jī)的基本結(jié)構(gòu) . 112.2.1 沖擊機(jī)構(gòu) . 122. 3液壓鑿巖機(jī)沖擊機(jī)構(gòu)工作原理 . 132.3.1雙控式液壓鑿巖機(jī)沖擊機(jī)構(gòu)工作原理 . 132.3.2行程反饋式雙控液壓鑿巖機(jī)及其多檔位原理 . 162.3.3后控式液壓

15、鑿巖機(jī)沖擊機(jī)構(gòu)工作原理 . 182.4 緩沖機(jī)構(gòu) . 21IV2.4.1緩沖機(jī)構(gòu)的發(fā)展歷程 . 232.5 本章小結(jié) . 30第三章 液壓鑿巖機(jī)沖擊機(jī)構(gòu)性能仿真與分析 . 313.1建立沖擊機(jī)構(gòu)數(shù)學(xué)模型的假設(shè)條件 . 313.1.1液壓鑿巖機(jī)沖擊機(jī)構(gòu)部分參數(shù)分布 . 313.1.2液壓鑿巖機(jī)沖擊機(jī)構(gòu)運(yùn)動(dòng)狀態(tài)分析 . 333.1.3液壓鑿巖機(jī)沖擊機(jī)構(gòu)的非線性數(shù)學(xué)模型 . 423.2液壓鑿巖機(jī)沖擊機(jī)構(gòu)運(yùn)動(dòng)仿真分析 . 443.2.1 Simulink仿真軟件簡(jiǎn)介 . 443.2.2液壓鑿巖機(jī)沖擊機(jī)構(gòu)的仿真模型 . 443.3仿真結(jié)果與結(jié)果分析 . 473.3.1仿真的內(nèi)容及其結(jié)果 . 473.4液

16、壓鑿巖機(jī)沖擊機(jī)構(gòu)內(nèi)部參數(shù)對(duì)沖擊性能的影響與分析 . 513.4.1活塞結(jié)構(gòu)參數(shù)對(duì)沖擊性能的影響與分析 . 513.4.2沖擊性能的綜合因素分析 . 543.5 本章小結(jié) . 61第四章 液壓鑿巖機(jī)沖擊性能測(cè)試方法及測(cè)試系統(tǒng)設(shè)計(jì) . 624.1沖擊能測(cè)試方法及設(shè)計(jì)方案 . 634.1.1 現(xiàn)有沖擊能測(cè)試方法及優(yōu)缺點(diǎn) . 634.1.2受沖式液壓鑿巖機(jī)沖擊性能檢測(cè)方法及實(shí)驗(yàn)臺(tái)設(shè)計(jì)方案 . 664.1.3 受沖式液壓鑿巖機(jī)沖擊性能測(cè)試原理 . 684.2 檢測(cè)系統(tǒng)的總體規(guī)劃 . 704.3模擬測(cè)試系統(tǒng)設(shè)計(jì) . 704.3.1模擬測(cè)試系統(tǒng)的測(cè)試原理 . 704.3.2模擬測(cè)試實(shí)驗(yàn)臺(tái)架設(shè)計(jì) . 714.

17、3.3 激振裝置的選型 . 724.3.4 液壓缸的確定 . 724.3.5 壓力傳感器選型 . 734.4 數(shù)據(jù)采集與處理 . 74V4.5 本章小結(jié) . 75第五章 液壓鑿巖機(jī)沖擊性能模擬測(cè)試實(shí)驗(yàn) . 765.1實(shí)驗(yàn)內(nèi)容 . 765.2 檢測(cè)系統(tǒng)的標(biāo)定與實(shí)驗(yàn)過(guò)程 . 775.2.1 檢測(cè)系統(tǒng)的標(biāo)定方法 . 775.2.2 檢測(cè)系統(tǒng)的操作步驟 . 785.3 實(shí)驗(yàn)數(shù)據(jù)采集及其處理 . 785.3.1 實(shí)驗(yàn)數(shù)據(jù)采集 . 785.3.2 實(shí)驗(yàn)結(jié)果與分析 . 785.4 本章小結(jié) . 84總結(jié)與展望 . 85參考文獻(xiàn) . 87攻讀學(xué)位期間發(fā)表論文 . 90學(xué)位論文獨(dú)創(chuàng)性聲明 . 91學(xué)位論文版權(quán)使

18、用授權(quán)聲明 . 91致謝 . 92VICONTENTSABSTRACT(in Chinese) . I ABSTRACT(in English) . II CONTENTS(in Chinese) . IV CONTENTS(in English) . VIIChapter 1 Introduction . 11.1 Hydraulic rock drill development profile at home and abroad . 11.1.1 Development of foreign hydraulic rock drill . 11.1.2 Development of dom

19、estic hydraulic rock drill . 31.2 Overview of the hydraulic rock drill impact mechanism Features and researchmethods . 41.2.1 Characteristics of the Hydraulic rock drill impact mechanism . 41.2.2 The mathematical model of Hydraulic rock drill impact mechanism . 41.3 Impact mechanism related technolo

20、gy research . 71.4 This topic research content. 81.5 Chapter Summary . 8Chapter 2 The basic structure and working principle of the hydraulic rock drill . 92.1 Classification of hydraulic rock drill . 92.2 The basic structure of the hydraulic rock drill . 102.2.1 Impact mechanism . 112. 3 The work pr

21、inciple of hydraulic rock drill impact mechanism . 122.3.1 Double-controlled hydraulic rock drill impact mechanism working principle . 132.3.2 Back-controlled hydraulic rock drill impact mechanism working principle . 162.4 Buffering mechanism . 182.4.1 Buffer mechanism experienced by history . 202.5

22、 Chapter Summary . 27VIIChapter 3 Hydraulic rock drill impact mechanism Performance Simulation andAnalysis . 283.1 Assumptions of the mathematical model of the impact mechanism . 283.1.1 The distribution of Hydraulic rock drill impact mechanism parameter. 283.1.2 Kinematic state analysis of the impa

23、ct mechanism of hydraulic rock drill. 303.1.3 The nonlinear mathematical model of hydraulic rock drill impactmechanism . 393.2 Hydraulic rock drill impact mechanism motion simulation analysis . 413.2.1 The simulink simulation software Profile . 413.2.2 The simulation model of hydraulic rock drill im

24、pact mechanism . 423.3 The simulation results and results analysis . 473.3.1 The contents and results of the simulation . 473.4 The analysis of hydraulic rock drill internal parameters affect the performanceof impact mechanism . 523.4.1 The effect and analysis of impact performance which affected by

25、 pistonstructure parameters . 523.4.2 The comprehensive factor analysis of impact performance . 553.5 Chapter Summary . 62 Chapter 4 Hydraulic rock drill impact performance simulation detection systemand test system design . 634.1 Impact energy test methods and design scheme . 644.1.1 The existing i

26、mpact energy testing methods and the advantages anddisadvantages . 644.1.2 The test method and the experimental device design scheme . 674.1.3 The principle of Hydraulic rock drill impact performance analogdetection device . 694.2 The overall planning of the detection system . 714.3 Detection system

27、 design and component selection . 71VIII4.3.1 Selection of the exciter . 724.3.2 The determination of the hydraulic cylinder . 734.3.3 Pressure sensor selection . 744.3.4 Determination of the rest of the mechanical structure . 754.4 Data Acquisition and Processing . 754.5 Chapter Summary . 76 Chapte

28、r 5 The experiment of hydraulic rock drill impact performance deteceion 765.1 Experimental content . 765.2 Test system of calibration and experiment process . 775.2.1 Calibration of the detection system. 775.2.2 The operation steps of detection system . 785.3 Acquisition and processing of the experi

29、mental data . 785.3.1 Experimental data collection . 785.3.2 Experimental results and analysis . 785.4 Chapter Summary . 84SUMMARY AND OUTLOOK . 85REFERENCES . 87PAPER LIST . 90STATEMENT OF ORIGINAL CREATION . 91AUTHORIZED USE STATEMENT OF THESIS COPYRIGHT . 91ACKNOWLEDGEMENTS . 92IX第一章 緒論1.1液壓鑿巖機(jī)發(fā)展概況在礦山、水電、鐵道等生產(chǎn)建設(shè)活動(dòng)中，將巖（礦）石從與之相連的基體（礦床、巖體等）上分離出來(lái)的工程十分浩大。盡管分離方法眾多，但迄今為止，占主導(dǎo)地位的仍然是在礦（巖）石上鉆孔然后實(shí)施爆破，即所謂的鉆爆法。目前開(kāi)鑿爆破孔的方法及相應(yīng)的機(jī)具種類(lèi)有很多，其中機(jī)械鉆孔的方法又可分為以沖擊為主、以回轉(zhuǎn)為主和沖擊并且?guī)Щ剞D(zhuǎn)這三種1 。在經(jīng)過(guò)漫長(zhǎng)的人工用手錘與釬子進(jìn)行鑿巖破碎歲月后，19世紀(jì)瑞典人在開(kāi)挖隧道時(shí)發(fā)明并率先使用了氣動(dòng)鑿巖機(jī)，這給炮眼的鑿制工作帶來(lái)了歷史性的變革。從此沖擊鑿巖機(jī)械逐步得以發(fā)展。在